The minimally invasive surgical assistant robot is developed rapidly in the world recent years, the slave-master minimally invasive surgical assistant robot prototype system is developed, in which the force measuring in slave robot and haptic feedback in master robot are especially discussed. WaFLES is a new kind of surgical method, a miniature robot for WaFLES was designed which include the swing fin, sucker, control units and so on. Kinematics and fluid dynamics of the robot were analyzed.